基于无速度传感器的煤矿电力机车牵引调速器控制

Based on Speed Sensorless of Coal Mine Electric Locomotive Traction Governor Control

为保证煤矿电力机车电机转速的稳定运转,保证机车的安全运行,提出基于传感器的煤矿电力机车牵引调速器控制方法。以牵引电机无速度传感器矢量控制方法为核心,构建虚拟的速度传感器数学模型,对牵引电机的转速和转子磁场位置进行计算;通过黏着控制方法观测煤矿电力机车实时运行状态;在此基础上,采用Luenberger状态观测器的转速自适应估计算法,估计该状态下的机车初始转速;依据该估计结果,基于电流数字PI控制器,控制煤矿电力机车牵引电机转速,实现煤矿电力机车牵引调速器控制。测试结果显示:该方法应用性能较好,控制后电子调速波动率在35%以下;牵引电机转速的响应结果和给定转速之间偏差在2~5 r/min;有效控制不同情况下的电机转速。

In order to ensure the stable operation of the motor speed of the coal mine electric locomotive and the safe operation of the locomotive,a sensor-based control method for the traction governor of the coal mine electric locomotive is proposed.Takes the speed sensorless vector control method of traction motor as the core,builds a virtual speed sensor mathematical model,and calculates the speed and rotor magnetic field position of traction motor.Observe the real-time operation status of coal mine electric locomotive through adhesion control method;on this basis,the adaptive speed estimation algorithm of Luenberger state observer is used to estimate the initial speed of the locomotive in this state.According to the estimation results,based on the current digital PI controller,the speed of the traction motor of the coal mine electric locomotive is controlled to realize the control of the traction governor of the coal mine electric locomotive.The test results show that the application performance of this method is good,and the fluctuation rate of electronic speed regulation after control is less than 35%.The deviation between the response result of traction motor speed and the given speed is within the range of 2-5 r/min;effectively control the motor speed under different conditions.